Write the conditional probability tables for the sensing model. Also provide the state probability distribution according to the dynamics model, given that the previous state was position 0 and the previous action was to move right.

The dynamics model is given by the following table. Notice that since "sense door" and "sense light" are Boolean variables with 2-element domains, the identities P(¬sense door | location) = 1 - P(sense door | location) and P(¬sense light | location) = 1 - P(sense light | location) are implied. Hence, we save half of the work by omitting the negation probabilites.

location

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

P(sense door | location)

0.1

0.1

0.8

0.1

0.8

0.1

0.1

0.8

0.1

0.1

0.1

0.8

0.1

0.1

0.1

0.1

P(sense light | location)

0.1

0.05

0.05

0.05

0.1

0.2

0.4

0.6

0.8

0.95

0.99

0.95

0.8

0.6

0.4

0.2

The following table describes the requested portion of the dynamics model. The complete dynamics model follows a similar pattern, but would require 2*16*16 = 512 table entries, one for each ordered triple (new location, old location, action).